WO2019127225A1

WO2019127225A1 - Positioning device for unmanned aerial vehicle

Info

Publication number: WO2019127225A1
Application number: PCT/CN2017/119435
Authority: WO
Inventors: 张顺; 钟志勇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-28
Filing date: 2017-12-28
Publication date: 2019-07-04
Also published as: CN110382362A

Abstract

A positioning device (10) for an unmanned aerial vehicle, comprising: a carrier board (20) for carrying an unmanned aerial vehicle; a first positioning component (30) for clamping or releasing the unmanned aerial vehicle from two opposite sides of the unmanned aerial vehicle in a first direction; and a second positioning component (40) for clamping or releasing the unmanned aerial vehicle from the other two opposite sides of the unmanned aerial vehicle in a second direction perpendicular to the first direction. The positioning device (10) enables the first positioning component (30) and the second positioning component (40) to release the unmanned aerial vehicle when the unmanned aerial vehicle needs to take off, and to clamp, when the unmanned aerial vehicle is landing, the unmanned aerial vehicle in the circumferential direction thereof to position same. Compared with manual positioning, the positioning device features high precision and a small error, reduces labor costs, and improves the convenience of use.

Description

Positioning device for unmanned aerial vehicle

[Technical Field]

The present application relates to the field of drone technology, and in particular to a positioning device for a drone.

【Background technique】

The drone is referred to as the "unmanned aerial vehicle". It is a non-manned aircraft operated by a radio remote controller and a self-contained program control device. In actual operation, due to the contradiction between the drone flight control program and the camera, When the drone landed, there will be a situation where the landing point is not in the same position as the take-off point. This situation will have a great impact on the subsequent work of the drone.

In the prior art, when the drone takes off and land, the manual landing calibration method generally makes the landing point and the take-off point at the same position, but the manual calibration method has low precision and large error.

[Summary of the Invention]

The present application mainly provides a positioning device for a drone, which aims to solve the problem of low precision and large error when manually positioning the drone.

In order to solve the above technical problem, a technical solution adopted by the present application is to provide a positioning device for a drone, the positioning device comprising: a carrier plate for carrying the drone; and a first positioning component for Clamping or releasing the drone from opposite sides of the drone in a first direction; a second positioning assembly for the unmanned person in a second direction perpendicular to the first direction The other opposite sides of the machine clamp or loosen the drone.

The utility model has the beneficial effects that the positioning device provided by the present application comprises a carrier board, a first positioning component and a second positioning component, the carrier board is used for carrying the drone, and the first positioning component is used for distinguishing the prior art. Clamping or releasing the drone from opposite sides of the drone in a first direction, the second positioning assembly for clamping from the opposite sides of the drone in a second direction perpendicular to the first direction Tightening or releasing the drone so that when the drone needs to take off, the first positioning component and the second positioning component release the drone, and when the drone is landing, the first positioning component and the second positioning component are The UAV clamps the UAV in the circumferential direction to locate the UAV. Compared with the manual manual positioning in the prior art, the precision is high and the error is small, the labor cost is reduced, and the convenience of use is improved.

[Description of the Drawings]

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings may be obtained according to these drawings without any creative work, wherein:

1 is a schematic structural view of positioning of an embodiment of a positioning device for a drone provided by the present application;

Figure 2 is a schematic structural view of the first positioning assembly of Figure 1;

Figure 3 is an enlarged schematic view of a portion A of Figure 2;

Figure 4 is an enlarged schematic view of a portion B of Figure 2;

Figure 5 is a schematic structural view of the second positioning assembly of Figure 1;

Figure 6 is an enlarged schematic view of a portion C of Figure 5.

【Detailed ways】

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

Referring to FIG. 1 , a schematic structural view of a positioning device 10 of an unmanned aerial vehicle provided by the present application is provided. The positioning device 10 of the present embodiment includes a carrier 20 , a first positioning component 30 , and a second positioning component 40 .

The carrier 20 is used to carry the drone 50.

The carrier 20 is provided with two slots 21 . Optionally, each slot 21 includes two sub slots 211 , and the two sub slots 211 are oppositely disposed.

The first positioning assembly 30 is configured to clamp or release the drone 50 from opposite sides of the drone 50 in a first direction, that is, the first positioning assembly 30 as shown in FIG. 1 is in the drone 50. Clamp or loosen the drone 50 on the left and right sides.

Referring to FIG. 2, the first positioning assembly 30 includes a first driving mechanism 31 and two first positioning mechanisms 32. The first driving mechanism 31 drives at least one of the two first positioning mechanisms 32 with respect to the other in the first side. Up or away from each other, the UAV 50 is clamped or released from opposite sides of the drone 50.

Optionally, the first driving mechanism 31 simultaneously drives the two first positioning mechanisms 32 to approach or move away from each other in the first direction.

The first driving mechanism 31 includes a first motor 311 and a first transmission mechanism 312. The first motor 311 drives the first positioning mechanism 32 through the first transmission mechanism 312.

Referring to FIG. 2, FIG. 3 and FIG. 4 together, the first motor 311 is connected to the carrier 20 on one side of the carrier 20, and the first transmission mechanism 312 includes a first driving wheel 312a and a first transmission member 312b, and the first driving wheel 312a is connected to the output shaft of the first motor 311. The first transmission member 312b is coupled to the first driving wheel 312a, and includes a first transmission portion 3121 and a second transmission portion 3122. The first transmission portion 3121 and the second transmission portion 3122 can The first driving wheels 312a are driven to move in opposite directions to each other.

Optionally, the first driving mechanism 31 further includes a first driven wheel 313. The first transmitting member 312b is a first driving belt wound around the first driving wheel 312a and the first driven wheel 313, and the first transmission portion 3121 and the first transmission portion The second transmission portion 3122 corresponds to a portion of the first transmission belt that is opposite to each other and moves in the opposite direction between the first driving pulley 312a and the first driven pulley 313.

In other embodiments, the first transmission member 312b can also be the first transmission chain.

Further, the first transmission mechanism 312 further includes two first connecting members 312c, and the two first connecting members 312c are respectively connected to the first transmission portion 3121 and the second transmission portion 3122 to be in the first transmission portion 3121 and the second transmission portion. When the portions 3122 move in opposite directions to each other, they approach or move away from each other.

Optionally, the two first connecting members 312c are respectively disposed in the corresponding two slots 21 of the carrier 20, and are movable in the corresponding slots 21 when approaching or moving away from each other, in this embodiment. Each of the first connecting members 312c is disposed in the two sub-grooves 211 of the corresponding slots 211.

It can be understood that the length direction of the slot 21 is the same as the first direction described above.

Optionally, the two first connecting members 312c respectively pass through the corresponding slots 21 to extend from a side of the carrier 20 adjacent to the first motor 311 to a side away from the first motor 311.

Further, the first transmission mechanism 312 further includes two first guiding members 312d, and the two first guiding members 312d are connected with the carrier 20 to support the corresponding two first connecting members 312c, respectively, and two firsts are The connector 312c is movable on the two first guides 312d.

Wherein, the two first guiding members 312d are oppositely disposed, and the extending direction is the same as the first direction described above.

Referring to FIG. 5 and FIG. 6 together, the two first positioning mechanisms 32 are respectively connected to the two first connecting members 312c to be connected to the first transmission portion 3121 and the second transmission portion 3122 through the two first connecting members 312c, so that the first When the first transmission member 3121 and the second transmission portion 3122 are oppositely moved from each other by the driving of the first driving wheel 312a, the two first connecting members 312c are apart from or close to each other, so that the two first positioning mechanisms are caused. 32 are away from or close to each other to realize that the first driving mechanism 31 described above simultaneously drives the two first positioning mechanisms 32 to approach or move away from each other in the first direction, thereby achieving the opposite sides of the drone 50 in the first direction. Clamp or loosen the drone 50.

Optionally, the first positioning mechanism 32 includes a positioning member 321 and a connecting plate 322. The two connecting plates 322 of the two first positioning mechanisms 32 are respectively connected to the two first connecting members 312c, and the two first positioning mechanisms 32 are The two positioning members 321 are respectively connected to the two connecting plates 322.

Optionally, the positioning member 321 is disposed on the cover body and is disposed on the connecting plate 322.

Optionally, the two first positioning mechanisms 32 are respectively connected to the two first connecting members 312c on a side of the carrier 20 away from the first motor 311, so that the two first positioning mechanisms 32 and the first motor 311 are disposed on The opposite sides of the carrier 20, that is, the two first positioning mechanisms 32 are respectively connected to the portions of the two first connecting members 312c that pass through the slots 21.

Referring further to FIG. 1, the second positioning assembly 40 is configured to clamp or release the drone 50 from the opposite sides of the drone 50 in a second direction perpendicular to the first direction, that is, as shown in FIG. The illustrated second positioning assembly 40 clamps or releases the drone 50 on the upper and lower sides of the drone 50.

Referring further to Figure 6, the second positioning assembly 40 includes a second drive mechanism 41 and two second positioning mechanisms 42 that drive at least one of the two second positioning mechanisms 42 relative to the other in the second The vehicles are moved closer to or away from each other in the direction, thereby clamping or releasing the drone 50 from opposite sides of the drone 50.

Optionally, the second driving mechanism 41 simultaneously drives the two second positioning mechanisms 42 to approach or move away from each other in the second direction.

The second driving mechanism 41 includes a second motor 411 and a second transmission mechanism 412. The second motor 411 transmits the second positioning mechanism 42 through the second transmission mechanism 412.

Specifically, the second transmission mechanism 412 includes a second driving wheel 412a and a second transmission member 412b. The second driving wheel 412a is coupled to the output shaft of the second motor 411. The second transmission member 412b is coupled to the second driving wheel 412a, and includes The third transmission portion 4121 and the fourth transmission portion 4122, the third transmission portion 4121 and the fourth transmission portion 4122 are capable of moving in opposite directions to each other under the driving of the second driving wheel 412a.

Optionally, the second driving wheel 412a includes a first sub-drive wheel 4123, a second sub-drive wheel 4124 and a third sub-drive wheel 4125. The first sub-drive wheel 411 is connected to the output shaft of the second motor 411, and the second transmission mechanism The 412 further includes a third transmission member 412c that connects the first sub-drive wheel 4123 and the second sub-drive wheel 4124. The third sub-drive wheel 4125 is coupled to the second sub-drive wheel 4124 such that the second motor 411 The third sub-drive wheel 4125 can be driven to rotate, and the second transmission member 412b is coupled to the third sub-drive wheel 4125 such that the third transmission portion 4121 and the fourth transmission portion 4122 can be reversed by the third sub-drive wheel 4125. To the movement.

Optionally, the third transmission member 412c is a third transmission belt wound around the first sub-drive wheel 4123 and the second sub-drive wheel 4124. In other embodiments, the third transmission member 412c may also be a third transmission chain.

Optionally, the second driving mechanism 41 further includes a second driven wheel 413. The second transmitting member 412b is a second driving belt wound around the second driving wheel 412a and the second driven wheel 413, and the third transmission portion 4121 and the The four transmission portion 4122 corresponds to a portion of the second transmission belt that is opposite to each other and moves in the opposite direction between the second driving pulley 412a and the second driven pulley 413.

Optionally, the second transmission member 412b is a second transmission belt wound around the third sub-drive wheel 4123 and the second driven wheel 413, and the third transmission portion 4121 and the fourth transmission portion 4122 correspond to the second transmission belt at the third position. A portion of the sub-driver 4123 and the second driven wheel 413 that are opposite to each other and move in opposite directions.

In other embodiments, the second transmission member 412b can also be a second transmission chain.

Further, the second transmission mechanism 412 further includes two second connecting members 412d, and the two second connecting members 412d are respectively connected to the third transmission portion 4121 and the fourth transmission portion 4122 to be connected to the third transmission portion 4121 and the fourth transmission portion. When the portions 4122 move in opposite directions to each other, they are close to or away from each other.

Further, the second transmission mechanism 412 further includes two second guiding members 412e, and the two second guiding members 412e respectively support the corresponding two second connecting members 412d, and the two second connecting members 412d can be in two The second guide member 412e moves.

The extending direction of the two second guiding members 412e is the same as the second direction described above.

The two second positioning mechanisms 42 are respectively connected to the two second connecting members 412d to be connected to the third transmitting portion 4121 and the fourth transmitting portion 4122 through the two second connecting members 412d, so that the third transmitting portion 4121 and the fourth transmission portion The portions 4122 are moved away from each other or close to each other when the second motor 411 is driven in reverse by the second driving wheel 412a, so that the two second positioning mechanisms 42 are away from or close to each other to achieve The second driving mechanism 41 simultaneously drives the two second positioning mechanisms 42 to approach or move away from each other in the second direction, thereby achieving clamping or releasing from the other opposite sides of the drone 50 in the second direction. Machine 50.

Optionally, the second positioning component 40 and the two first positioning mechanisms 32 are disposed on the same side of the carrier 20 .

Optionally, the second positioning component 40 is mounted on the first positioning mechanism 32 and moves together with the first positioning mechanism 32 when the first driving mechanism 31 drives the second positioning mechanism 32.

Optionally, the second positioning component 40 is mounted on the connecting plate 322 of the first positioning mechanism 32. Specifically, the second motor 411 and the second driven wheel 413 of the second driving mechanism 41 are connected to the connecting plate 322.

The positioning member 321 disposed on the cover body is disposed on the second positioning assembly 40.

Optionally, as shown in FIG. 5, the number of the second positioning components 40 is two, and the two second positioning components 40 are respectively mounted on the corresponding first positioning mechanisms 32.

Different from the prior art, the positioning device provided by the present application includes a carrier board, a first positioning component and a second positioning component, the carrier board is used for carrying the drone, and the first positioning component is used for the drone in the first direction. Clamping or releasing the drone on opposite sides, and a second positioning assembly for clamping or releasing the drone from the other opposite sides of the drone in a second direction perpendicular to the first direction When the drone needs to take off, the first positioning component and the second positioning component release the drone, and when the drone is landing, the first positioning component and the second positioning component are clamped in the circumferential direction of the drone without The man-machine positioning the unmanned aerial vehicle has higher precision and less error than the manual manual positioning in the prior art, which reduces the labor cost and improves the convenience of use.

The above description is only the embodiment of the present application, and thus does not limit the scope of the patent application, and the equivalent structure or equivalent process transformation made by using the specification and the drawings of the present application, or directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of this application.

Claims

A positioning device for a drone, characterized in that the positioning device comprises:

a carrier plate for carrying the drone;

a first positioning assembly for clamping or releasing the drone from opposite sides of the drone in a first direction;

a second positioning assembly for clamping or releasing the drone from the other opposite sides of the drone in a second direction perpendicular to the first direction.
The positioning device according to claim 1, wherein the first positioning assembly comprises a first driving mechanism and two first positioning mechanisms, wherein the first driving mechanism drives at least the two first positioning mechanisms At least one of the ones are close to or away from each other in the first direction relative to the other, thereby clamping or releasing the drone from opposite sides of the drone.
The positioning device according to claim 2, wherein the first driving mechanism simultaneously drives the two first positioning mechanisms to approach or move away from each other in the first direction.
The positioning device according to claim 2, wherein the first drive mechanism includes a first motor and a first transmission mechanism, and the first motor transmits the first positioning mechanism through the first transmission mechanism.
The positioning device according to claim 4, wherein said first transmission mechanism comprises a first driving wheel and a first transmission member, said first driving wheel being coupled to an output shaft of said first motor, said a transmission member is coupled to the first driving wheel, and includes a first transmission portion and a second transmission portion, wherein the first transmission portion and the second transmission portion are capable of moving opposite to each other under driving of the first driving wheel The two first positioning mechanisms are respectively connected to the first transmission portion and the second transmission portion, and are further brought closer to or away from each other by the first transmission portion and the second transmission portion.
The positioning device according to claim 5, wherein the first transmission mechanism further comprises two first connecting members, the two first connecting members respectively connecting the first transmission portion and the two One of the first positioning mechanisms and the second transmission portion and the other of the two first positioning mechanisms.
The positioning device according to claim 6, wherein the first motor and the two first positioning mechanisms are disposed on opposite sides of the carrier.
The positioning device according to claim 7, wherein the carrier plate is provided with two slots, the two first connectors are respectively disposed in the corresponding slots, and can be Move inside the slot.
The positioning device according to claim 6, wherein the first transmission mechanism further comprises two first guiding members, and the two first connecting members are respectively supported on the corresponding first guiding members and It is movable relative to the first guide.
The positioning device according to claim 5, wherein the first drive mechanism further comprises a first driven wheel, and the first transmission member is wound around the first driving wheel and the first driven wheel The first transmission belt, the first transmission portion and the second transmission portion correspond to opposite movements of the first transmission belt between the first driving wheel and the first driven wheel part.
The positioning device according to claim 1, wherein the second positioning assembly comprises a second driving mechanism and two second positioning mechanisms, wherein the second driving mechanism drives at least the second positioning mechanism At least one of them is closer to or away from each other in the second direction relative to the other, thereby clamping or releasing the drone from opposite sides of the drone.
The positioning device according to claim 11, wherein the second drive mechanism simultaneously drives the two second positioning mechanisms toward or away from each other in the second direction.
The positioning device according to claim 11, wherein said second drive mechanism comprises a second motor and a second transmission mechanism, and said second motor drives said second positioning mechanism by said second transmission mechanism.
The positioning device according to claim 13, wherein said second transmission mechanism includes a second driving wheel and a second transmission member, said second driving wheel being coupled to an output shaft of said second motor, said The second transmission member is coupled to the second driving wheel, and includes a third transmission portion and a fourth transmission portion, wherein the third transmission portion and the fourth transmission portion are capable of moving opposite to each other under the driving of the second driving wheel The two second positioning mechanisms are respectively connected to the third transmission portion and the fourth transmission portion, and are further brought closer to or away from each other by the third transmission portion and the fourth transmission portion.
The positioning device according to claim 14, wherein the second transmission mechanism further comprises two second connecting members, the two second connecting members respectively connecting the third transmission portion and the two One of the second positioning mechanisms and the other of the fourth transmission portion and the two second positioning mechanisms.
The positioning device according to claim 15, wherein the second transmission mechanism further comprises two second guiding members, and the two second connecting members are respectively supported on the corresponding second guiding members and It is movable relative to the second guide.
The positioning device according to claim 14, wherein said second drive mechanism further comprises a second driven wheel, said second transmission member being wound around said second drive wheel and said second driven wheel The second transmission belt, the third transmission portion and the fourth transmission portion correspond to opposite movements of the second transmission belt between the second driving wheel and the second driven wheel part.
The positioning device according to claim 7, wherein the second positioning component and the two first positioning mechanisms are disposed on the same side of the carrier.
The positioning device according to claim 18, wherein the second positioning assembly is mounted on the first positioning mechanism, and when the first driving mechanism drives the first positioning mechanism, The first positioning mechanism moves together.
The positioning device according to claim 19, wherein the number of the second positioning components is two, and the two second positioning components are respectively mounted on the corresponding first positioning mechanisms.